Remote control system



E c. WAHLBERG REMOTE C ONTROL SYSTEM Filed Aug. 6, 1943 3 Sheets-Sheet l ATTORNEY E. CfWAHLBERG REMOTE CONTROL SYSTEM Filed Aug. 6, 1943 3 Sheets-Sheet 3 rill,

ATTORNEY turret by remote control.

Patented Aug. 13, 1946 REMOTE CONTROL SYSTEM Eric Clifton Wahlberg, Stamford, Conn, assignor Electrolux Corporation,

Old Greenwich,

Conn., a corporation of Delaware Application August 6, 1943, Serial No. 497,600

Claims.

This invention relates to a system of remote control and more particularly to such a system for use in aircraft, especially military aircraft.

The design of modern military aircraft has produced a number of new problem because of the fact that such aircraft are required to fly at very high altitudes. When flying at high altitudes, it is necessary that the occupants of the plane be supplied with oxygen in addition to that present in the rarified atmosphere. If this is done by the use of an oxygen mask, it'is found that the occupants of the plane are somewhat handicapped by the necessity of having to wear the mask and furthermore their bodily efiiciency is reduced because of the high percentage of oxygen in the mixture which they breathe and because of the low pressure around their bodies. It has been proposed to solve this problem by providing the occupant with space suits but although such suits overcome some of the above mentioned problems, they are even more cumbersome than the oxygen masks. The only really satisfactory solution is to seal the cabin occupied by the aircraft personnel and supercharge it so as to maintain within the cabin normal atmospheric conditions.

If a sealed cabin is used, there is a difficult problem presented in connection with the operation of the gun turret. A revolving turret with apertures through which moving guns project is a rather diflicult construction to seal efiectively. The gun, however, must have an operator and the operator must be supplied with oxygen, the same as the rest of the occupants of the plane. As a solution of this problem, applicant proposes to locate the gun turret in a part of the aircraft separate from the sealed cabin and operate the Electrical remote control rather than mechanical is desirable because .there need be no packed sliding joints where the electrical control wires pass through the wall of the sealed cabin. With such an arrangement a gun director may have an observation window forming one wall of the sealed cabin and may operate the gun turret by remote control.

Electric remote control of guns is Well known in the art. Such control systems may be classifled in two groups called respectively space con trol and speed control systems. By space control it is meant that the gunner control the position of the remote guns merely by pointing his sighting device at the target. As the sighting device is moved to follow the target, the guns move in a like direction. By speed control is meant the control of the position of the remote guns in azimuth and altitude by movement of azimuth and altitude control levers at the gun director station in which the speed of movement of the gun in either azimuth or altitude is dependent upon the degree of displacement of the corresponding 2 control levers. In a speed control system there must, of course, be an additional follow-up system for repeating the position of the gun at the gun director station. With a space control system the position of the sight itself serves as an indication of the position of the gun.

In most of the prior art remote control systems of either of the above mentioned types there has been a considerable lag in the system so that as long as the gun'was in motion the indicated position thereof at the gun director station was slightly in error. In the case of known space controls the sight must first be moved through a certain angle before the gun starts to follow the motion, and in known speed controls thegun must move through a certain angle before the repeater at the gun director station begins to move. Such error can be reduced to a sufficiently small value so that such remote control systems are satisfactory for naval fire control systems and land batteries when the target is relatively fixed. However, for antiaircraft guns and for armament on fighting planes themselves any time lag or mechanical lag whatsoever reduces the efiiciency of the firing system very markedly. This is due to the extremely high speeds and close ranges involved. For such applications it is imperative that the lag approximate zero as closely as possible.

It is the principal object of applicants invention to provide a remote control system embodying both space control and speed control in which the lag has been reduced to a minimum. This is accomplished in part by the use of a novel control system in which the gun turret and sighting device are driven by synchronous motors operated in parallel from the same source of power so that there is no lag introduced in the system. It is necessary that these motors operate in exact synchronism throughout repeated starting and stopping operations and further that the motors stop quickly when deenergized. This is accomplished by an adaptation of applicants system of synchronized motors disclosed in greater detail in his copending United States Patent applications Serial No. 428,018, filed J anuary 24, 1942, and. Serial No. 472,464 filed January 15, 1943.

Another main object of applicants invention is to provide an improved space control system. According to this invention the space control not only operates to drive the sight at the gun director station but also drives a seat or platform upon which the gun director is seated thereby facilitating his operation of the space control.

Further to the accomplishment of both of the above stated objects it is another object of this invention to provide a space control in which initiation of motion is accomplished without moving the sighting device itself. To accomplish this,

such use might be mentioned the control of a' steam shovel, crane, orother lifting device by an operator located in a control cabin some distance away from the shovel itself, The cabin might either be mounted on the body of the machine together with the driving apparatus or it might be located entirely separate from the apparatus in a stationary or moving control station. Since the claimed features of 'the invention are fully disclosed by the description of its application in a military'fire control system, it has been thought unnecessary to describe it in other applications. Further objects and advantages of the invention will appear from the description set forth below.

Referring to the drawings, Fig. 1 is a perspective view of a military airplan mbodying my invention. Figs. 2 and 3 are elevations, largely schematic, of the gun director and gun turret respectively. Figs. 2A and 3A are views similar to Figs. 2 and 3 showing the correction motors associated with the gun turret; Figs. 4 and '5 are wiring diagrams showing the electric circuits used in the invention, Fig. 6 is a perspective view and Fig. 8 a section showing certain details of the combined speed and space control apparatus according to my invention and Fig. 7 is an exploded view of a switch suitable for use in connection therewith.

Referring to Fig. 1, there is shown an airplane designated generally by the reference character It. The airplane comprises a fuselage H having Wings I2. The fuselage comprises a forward sealed cabin I3 and an after part I4. The cabin I3 is provided with observation windows I5, I6,

and IT for the pilot,bombardier, and gun director mote control means of any known type from within the sealed cabin I'3. Likewise, the propeller pitch changing mechanism and the engine throttles should be operated by similar remote control means from within the sealed cabin, Remote control means for operating the gun turret I8 from within the cabin is the principal subject of this invention and will be described with reference to the remaining figures of the drawings.

Referring to Fig. 2, there is shown the gun directing apparatus that is mountedimmediately below the "observation window IT. A shaft 24 "is mounted in end bearing 25 supported on the frame 26 of the fuselage. An electric motor '21 also mounted on the 'frame 25 drives a gear 28 through bevel gear 29. Gear 28 is supported on the shaft :24. In axial alignment with shaft '24 "there is a second shaft 33 supported on gear .23

by a bearing em. Shaft 36 has attached thereto a gear 3| and on the upper end of the shaft there is affixed a seat '32. An electric mot r '3 is altitude.

mounted on the gear 28 and drives gear 3| through worm 34. worm wheel 35, and bevel gear .36..

ihe gear 3'! carries standards 3-! and 38 at the upper ends of which are bearings 39 and 49. Shaft 4| carrying a telescope or other sighting device 42 is rotatably mounted in the bearings 39 and 48.. Standard 33 supports an L shaped standard 43 having a bearing 46a at its upper end. Standard 43 also carries an electric motor '44 which drives .a gear through a bevel gear 45. Supported on the gear 45 is an electric motor 4:! which drives the shaft 4| through worm 43 and Worm Wheel 49. At the other end of the shaft 4! from the worm wheel 49 there is supported on a standard 3'! a potentiometer 5D, the

moving contact '5! of which is mounted on the end of the shaft M. A similar potentiometer '52 is carried on a stationary part 520. of the fuselage.

Its moving contact 53 is driven by the shaft 30 through bevel gears 93 and 99.

It will be apparent that as long as electric motor 33 is at rest the electric motor 21 will drive shaft 39 at the same speed it drives shaft '24. Likewise, as long as motor 41 is at rest, the motor 44 will drive shaft 4| at the same speed it drives gear 4-5. The motors 2! and 44 thus serve to drive the telescopic sight 42 in azimuth and altitude respectively, The motors 33 and. 41 are provided merely to introduce any necessary corrective displacement between shafts 24 and 30 and between gear 45 and shaft M. The purpose and operation of the corrector motors 33 and M will be described later.

Referring to Fig. 3, there is shown the gun turret I8 which is mounted on gear 9%. Gear Bil is rotatably supported on the frame 9I of the fuselage by means of an annular flange 92 cooperating with an annular groove 93 formed in the frame 9| near the outer surface of the fuselage. An electric motor 95 supported on the frame 9| drives the gear through a bevel gear 91. Supported on the gear 9! are standards 94 and 95 carrying a shaft I 96 in bearings at the upper end thereof. An electric motor I03 is supported on the gear 98 and drives shaft I95 through bevel gears 84 and ms. Guns I02 are mounted at either end of the shaft I06. The ends I!" of the guns project through slots I08 in the armored turret I8, The slots I58 are long enough to permit the guns I62 to move as much as needed in the vertical plane. .If desired, these slots I08 may be continuous from .one .side of the turret to the other, providing .for movement .of the guns through an arc of or more. A potentiometer I439 is supported inside the turret l3. Its moving contact I H) is carried by the end of the shaft I 0.6, A similar potentiometer I00 is mounted on the frame 9|. The moving contact I EH is driven by the electric motor 95. 'It will be seen that the apparatus just described provides for movement of the guns I82 in both azimuth and altitude. The guns are driven in azimuth by motor 96 an in altitude b motor'I U3.

The gear ratios of the apparatus shown in Figs. 2 and '3 should 'be such that when motors 21 and 96 are driven in synchronism, the sight 42 and the guns I82 will be moved in azimuth through the same angle and at the same speed. Likewise, the gear ratios should be such that motors .44 and I03, when operated synchronously, will drive the sight 42 and the guns I02 synchronously in Should the main motors get out of synchronism, corrector motors 33 and 41 are automatically operated to restore synchronism between the sight 42 and the guns I02. These corrector motors are controlled by balanced bridge circuits comprising th potentiometers 50, I09, 52, and IE0. The gear ratios of the apparatus should be such that moving contact 5| and moving contact Ill operate synchronously a long as the sight 42 and guns I92 move synchronously in altitude. Likewise, the gear ratios should be such that moving contact 53 and moving contact Illl operate at the same speed as long as the sight 42 and guns H52 move synchronously in azimuth. Should the main drive motors get out of synchronism, the sight and guns would also get out of synchronism and likewise the positions of the moving contacts of the potentiometers. This would upset the balance of the bridge circuits and operate the corrector motors to drive the sight back into synchronisrn with the guns. The details of an electric circuit for carrying out this operation will be described later.

It i obvious that collector motors 33 and 41 may be incorporated in the apparatus for driving the gun turret instead of that for driving the sight. Figs. 2A and 3A illustrate the arrangement of the sight and turret, respectively, when the correction motors are so arranged, in which case the correction motors drive the guns back into synchronism with the sight, thus making it unnecessary to re-sight the latter after a correction has taken place.

Referring again to Fig. 2, there is shown a control cylinder 54 mounted concentrically with the telescope 42. This control cylinder may be rocked slightly with respect to the telescope by movement of the handles 16 and I! on the ends of the handle bar 1'2. The details of construction of thi combined speed and space control are shown in Figs. 6 and 8. As shown in Figs. 6 and 8, the sight 42 is carried by shaft 4| in a supporting ring 55. The supporting ring 55 is formed exteriorly with a spherical surface cooperating with spherical surface 55 on the interior of cylinder 54 to form ball and socket support for the cylinder 54. The cylinder 54 is cut away as at 20! to permit rocking thereof with respect to the sight 42 without being hampered by the shaft 4!. Afiixed to the interior of the cylinder 54 are four stationary switches 58 mounted above and below and at either side of the sight 42. Thes switches are of the snap action type and are operated by push buttons 6!). Four more snap action switches 59 are mounted within the cylinder 54 and similarly disposed with respect to the sight 42. The switches 59 are supported within the cylinder 54 b means of springs 6!. There are studs 13 carried by the switches 59. These studs project through apertures 14 in the cylinder 54. Buttons 15 on the ends of studs 13 limit inward motion of the switches 59. When the sight 42 is centered within cylinder 54, the push buttons 62 of the switches 59 just make contact with the exterior of the sight 42. The springs 5| are sufficiently strong to support the switches against movement when the cylinder 54 is rocked with respect to sight 42 so as to permit actuation of th switches by push buttons 52. After a push button 52 has been actuated, the corresponding springs 5! will be compressed, permitting actuation of the push button 60 of the adjoining switch 58 upon further displacement of cylinder 54 in the same direction. Springs 5'! are provided for biasing the cylinder 54 into a position. of axial alignment with sight 42. The end of the cylinder 54 is closed by means of a cap 63 having an opening 54 centrally thereof of sufiicient diameter to permit rocking of cylinder 54 with respect to sight 42. A collar 65 formed on sight 42 provides a sliding seal for the opening 64. Either the collar is resilient or there is enough play provided to permit relative motion at this point.

In Fig. 6, there is shown the construction of the operating levers connected to the cylinder 54 for rocking it with respect to sight 42. Control lever 56 is rigidly affixed at one end to the cylinder 54 and is pivotally connected at it opposite end to handle bar 12. It will be apparent that if an operator seated on seat 32 (Fig. 3) moves both the handles 16 and I? on the ends of the handle bar '52 in the same direction either towards or away from himself, a motion will be imparted to the cylinder 54 rocking it with respect to sight 42 in a plane perpendicular to the shaft 4|. On the other hand, if the operator moves one of the handles towards himself and the other handle away from himself, the cylinder 54 will be rocked with respect to sight 42 in the plane containing the sight 42 and the shaft 4|. In this arrangement the end 292 of the sight 42 is located close to the axis of the shaft 4! so that change in the altitude of the sight 42 will not produce any great change in the position of the eye piece thereof. This is desirable so that the gun director will not have to move his head appreciably in following a target. The handles 15 and TI, however, are located a considerable distance below the shaft 4! in order to be near the operators hands. This provides a certain leverage between the handle bars '55 and T! and the cylinder 54 whereby a slight pressure on the handle bars will produce suihcient motion of the cylinder 54 to actuate one of the switches 58 and a slight additional pressure without appreciable movement will operate one of the switches 59. Switches 59 operate to drive the sight and gun at one speed and switches 58 operate to drive them at a higher speed.

Referring to Fig. 7, there is shown the internal construction of a snap action switch suitable for use in this invention. The switch comprises a casing 18 supporting conducting plates l8 and 8B. A connection strap 8! is electrically connected to plat 79 and a similar strap (not shown) is con.- nected to plate 83. Plate 80 carries a contact arm 82 which is bolted thereto at 83. Contact arm 32 carries a silver contact 84 which cooperates with a similar silver contact 203 on plate 19 to open and close the circuit. Two leaf springs 35 are formed on the end of the contact arm 82 and their free ends 204 are supported in grooves 86 in the end of plate 80. These springs are always slightly in compression, and together with contact arm 82, form a compression toggle. A very slight movement of contact arm 82 will cause the toggle to pass over center and snap into closed circuit position. When the contact arm 82 is allowed to move back to it original position, the toggle will again pass over center and snap to open position. The contact arm 82 is moved by push button 50 through insulation block 81. A shim 89 having an opening 88 is supported on the plate 80 and biases the button 53 outwardly. This shim also serves to limit inward motion of button 6 by rolling out flat on the surface of plate 85. Such a switch is quite useful in the present invention because of its characteristic of operating with a snap action from open to closed position upon Very slight displacement of its push button.

In Fig. 4, there is shown a circuit diagram of the connections between the switches 58 and 59 and the main drive motors. The switches 58 and 59 mounted in one plane at either side of the night 42 control the operation of the motors 21 and 955 fordriving the sight and guns .in azimuth. The switches 58 and 59 mounted in a perpendicular plane above and below the sight 42 control motors M and I53 for operating the sight :and guns in altitude. Since the connections between the switches in one Plane and their corresponding drive motors are identical with the connections between the switches in the other plane and their corresponding drive motors, only the connections between the azimuth drive mo- :tors and switches have been illustrated.

Referring again to Fig. 4, there is shown the eight 42 and the switches 58a and 59a on one side thereof and the switches 58b and 53bon the other side thereof. The switches 59 are supported Within'the cylinder 54 on springs and the switches 58 are ifixedly supported within the cylinder 54. In this figure the switches are shown diagrammatically. Also shown diagrammatically are drive motors 2! and 95 and two relays designated generally by reference characters MI and I42. The system is energized from a source of direct current connected to wires III and H2. The motors 21 and 96 are connected in parallel across line H3 and H4. Line I I3 is connected to contacts I15, H5, and II! of relay MI. Line H4 is connected to contacts H8, H3, and I of the same relay. Motors 2? and 95 are constructed as single phase rotary converters and taps are taken from fixed points on their armatures to slip rings I21, I22, and I23, I respectively. These slip rings are connected together by wires I25 and I26. Wires I25 and I25 are also suitably connected to contacts I21 and I28 of relay I4I. Power line 'I I2 is connected to contacts I29, I 38 and I3I and power line III is connected to contact I32 of relay MI. Also connected to power line I I I is a series armature resistor I33, the other end of which is connected to contacts I34 an 1350f relay MI.

Relay It! carries three moving contacts 254, 295, and 2% and is operated by a solenoid I36. The center of solenoid I36 is connected to a suitable source of direct current such as battery I31, the opposite side of which is connected by wire I38 to one contact of each of the switches 59a and 59b. The remaining contacts of these switches are connected to the opposite ends of the solenoid I36.

Battery I31 is also connected by wire I39 to the actuating coil I48 of relay I52. The opposite end of coil I40 is connected to one contact of each of the switches 58a and b. The remaining contacts of these switches are connected by wires I43 and I44 to the opposite pole of battery I31. The relay I52 has moving contacts 251 which are normally in open circuit position. When relay I42 is energized, it connects contacts I45 and I45 thereby closing a short circuit around'armature resister I33.

Field windings I 41 and I 58 of the motors 2'! V such as battery I55.

and 96 are connected in parallel across power lines III and H2.

The system operates as follows:

When the operator, by pressure on the handle bars I5 and I1, rocks the cylinder 54 with respect to sight 42 in a direction having a component in the plane of the switches 58 and 59 controlling the azimuth drive motors 2'! and 96, one of the switches 53, say 59a will be closed. This will energize solenoid I36 and cause the moving contacts of relay MI to move from their rest position to a position one step higher. "This will connect motors 27 and in parallel across lines I II and ;II2 through armature resister I33. These motors Will drive the sight and guns in azimuth until pressure on the .handle bars I6 and I1 is released. If the operator wishes to move the gun and sight more'rapidly, he mayincrease the pressure on the handle bars thereby further rocking cylinder 54 to close switch 58a. This will energize coil IL-III of relay I42 and its contactor 251 will move to close a circuit between fixed contacts I45 and M5 thereby short circuiting armature resister I33 to speed up the motors. If the pressure on the handlebars is reduced, the switch 58a will again open and the short circuit around resister I33 will also be opened. This will cause the motors to slow down. If the pressure on the handle bars is completely removed, the cylinder :54 will return to its position concentric with sight 42 and the switch 53a will be opened. This will :permit the relay IAI to return to the normal position shown in Fig. 4. 'In this position of the relay, direct current from power lines III, H2 is supplied to the tie lines I25 and I26 through contacts I32, I38 and I30, I27. At the sametime contact 235 closes a short circuitacross the armatures of the motors through contacts I25, II 5. As described in applicants aforementioned copending applications this brings the motors quickly to rest by dynamic braking while maintaining them in synchronism.

The operation of the system on movement of the cylinder .53 to close switches '53?) and 59b is similar to that described for movement closing switches 58a and 59a and need not be described in detail. The same is true of operation of the system upon movement of cylinder '54 to close the altitude control switches. It will also be apparent that upon movement of the cylinder 54 in a direction having components in both the azimuth and altitude planes the corresponding switches will be closed to actuate the. azimuth and altitude drive motors simultaneously. It might be that the pressure on the handle bars It and TI was such as to operate one set of motors at high speed while the other was operating at low speed.

Reference should now be made to Fig. 5 for a 7 description of the operation of the corrector sys tern. In Fig. 5, there is shown the circuit for operating azimuth corrector motor 33 upon relative displacement of the contacts 53 and IEII of the potentiometers 52 and I55. The operation of the altitude corrector motor 54. is identical and hence the circuit diagram therefore has not been shown. The ends of the potentiometers 52 and I35 are connected by leads I 53 and I55 to form a Wheatstone bridge circuit. The bridge is energizedby a suitable source of electric power, The opposite poles of the battery are connected to the moving contacts 53 and Isl. As long as the sight and the guns are in synchronism, the moving contacts 53 and IE! will be in a position to cause balanced currents to flow through the parallel arms of the bridge circuit from the battery I55. Hence, no current flows through the coil I52 of the relay I5I, the coil being connected across equi-potential points in the parallel arms of the bridge circuit. Should the sight and the guns get out of step, however, such as might occur through a failure of the ties between the main driving motors 2I and 95, the moving contacts 53 and II}! will be'angularly displaced from each other thereby unbalancing the bridge and actuating the relay I5I. The relay I5! constitutes a reversing switch for connecting corrector motor 33 across power lines I59 and I512. The relay will connect the motor 33 in a proper manner for actuating it to bring the sight back into synchronism with the guns. If desired, the power lines I49 and I58 may be connected to the same source of power as the power lines I II and H2. The batteries I32 and I55 might also be replaced by suitable connections to this same power supply.

From the foregoing description it will be apparent that I have provided a novel remote control system and while certain features thereof are peculiarly adapted for use in the operation of a fire control system for military aircraft, there are many features which are of general application. Furthermore, it is apparent that many modifications may be made in the preferred embodiment of the invention disclosed herein and it is intended to protect by these Letters Patent all forms of invention falling within the scope of the appended claims. Certain subject matter disclosed but not claimed herein, is claimed in my copending divisional application Serial No. 652.322 filed March 6, 1946.

What I claim is:

1. In combination, a member, a body, a controlling device mounted for movement relative to said member and having a zero position relative to said member, electric motor means in driving relationship with said member, electric motor means in driving relationship with said body, each of said electric motor means including an armature winding and a field winding, conductor means providing a path for the flow of current between fixed taps taken from said armature windings, means controlled by said device for connecting said armatures to means supplying electric power to drive said member and said body with motions such that their positions always bear a predetermined relationship to one another, said device also controlling means for bringing said member and said body quickly to rest while maintaining the predetermined relationship, both of said motors being operated in response to the displacement of said device from its zero position relative to said member.

2. In combination, a member, a body, a controlling device mounted for movement relative to said member and having a zero position relative to said member, electric motor means in driving relationship with said member, electric motor means in driving relationship with said body, each of said electric motor means including an armature winding and a field winding, conductor means providing a path for the flow of current between fixed taps taken from said armature windings, means controlled by said device for connecting said armatures to means supplying electric power to drive said member and said body with motions such that their positions always bear a predetermined relationship to one another, said device also controlling means for bringing said member and said body quickly to rest while maintaining the predetermined relationship, both of said motors being operated in response to the displacement of said device from its zero position relative to said member, the direction of motion imparted to said member and body by said motors being the same as the direction of the displacement of said device relative to said member.

3. In combination, a member, a body, a controlling device mounted for movement relative to 10 said member and having a zero position relative to said member, electric motor means in driving relationship with said member, electric motor means in driving relationship with said body, each of said electric motor means including an armature winding and a field winding, conductor means providing a path for the flow of current between fixed taps taken from said armature windings, means controlled by said device for connecting said armatures to means supplying electric power to drive said member and said body with motions such that their positions always bear a predetermined relationship to one another, said device also controlling means for bringing said member and said body quickly to rest while maintaining the predetermined relationship, both of said motorsbeing operated in response to the displacement of said device from its zero position relative to said member, the speed of operation of said motors being dependent upon the amplitude of the displacement of said device relative to said member.

4. In combination, a member, a body, a controlling device mounted for movement relative to said member and having a zero position relative to said member, electric motor means in driving relationship with said member, electric motor means in driving relationship with said body, each of said electric motor means including an armature winding and a field winding, conductor means providing a path for the flow of current between fixed taps taken from said armature windings, means controlled by said device for connecting said armatures to means supplying elec-- tric power to drive said member and said body with motions such that their positions always bear a, predetermined relationship to one another, said device also controlling means for bringing said member and said body quickly to rest while maintaining the predetermined relationship, both of said motors being operated in response to the displacement of said device from its zero position relative to said member, the speed and direction of motion imparted to said member and body by said motors being responsive to the amplitude and direction of the displacement respectively of said device from its zero position relative to said member.

5. In combination, a member, a body, a controlling device, electric motor means in driving relationship with said member, electric motor means in driving relationship with said body, each of said electric motor means including an armature winding and a field winding, conductor means providing a path for the flow of current between fixed taps taken from said armature windings, means controlled by said device for completing a circuit from said armature and field windings to means for supplying operating electric power to drive said member and said body with motions such that their positions always bear a predetermined relationship to one another, said device also controlling means for short circuiting said armature windings while maintaining the supply of electric power to said field windings for dynamically braking said motors to thereby bring said member and said body quickly to rest while maintaining the predetermined relationship.

ERIC CLIFTON WAHLBERG. 

